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<div class="title">LocalMapping.h</div>  </div>
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<a href="_local_mapping_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#ifndef LOCALMAPPING_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define LOCALMAPPING_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_key_frame_8h.html">KeyFrame.h</a>&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_map_8h.html">Map.h</a>&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_loop_closing_8h.html">LoopClosing.h</a>&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_tracking_8h.html">Tracking.h</a>&quot;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_key_frame_database_8h.html">KeyFrameDatabase.h</a>&quot;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;{</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">class </span>Tracking;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">class </span>LoopClosing;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">class </span>Map;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html">   68</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html">LocalMapping</a></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;{</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#aa87b27706cc45e36cbb8c7a21c90ed23">LocalMapping</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* pMap, <span class="keyword">const</span> <span class="keywordtype">float</span> bMonocular);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#af64985dda85b4f0775ef2ef7fc9b5942">SetLoopCloser</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html">LoopClosing</a>* pLoopCloser);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a164b3d0a2a75daba006469ea8aca8a63">SetTracker</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a>* pTracker);</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">// Main function</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a0f9fa8a0236f55629b0f485db05deb2c">Run</a>();</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#af2d70466a1a217fb7e55d874931ce688">InsertKeyFrame</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="comment">// Thread Synch</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="comment"></span>    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a0931d72a1f25f3e012f53f3e693e2a47">RequestStop</a>();</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a1e2754881977ca4d9dc7b3d0c06b4eb8">RequestReset</a>();</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a6acf915f6b65bd4e2341e85a320d4930">Stop</a>();</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#aec0950308ba2d828d9dc16d5be34e654">Release</a>();</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; 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   <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ae33aa5640d61d5434bd0ad00e27d8e76">SetNotStop</a>(<span class="keywordtype">bool</span> flag);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ad8fcbbdacfaeca558c5aaff32f42a57b">InterruptBA</a>();</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ac22bd2b73269435e04c353190eae7c13">RequestFinish</a>();</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a06ce22a736be265a6856582d31e888d6">isFinished</a>();</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a8299d3b0c603784de01ac2242f4916be">  156</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a8299d3b0c603784de01ac2242f4916be">KeyframesInQueue</a>(){</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        unique_lock&lt;std::mutex&gt; lock(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a970bb666e27d4e801453e9fc26e779a1">mMutexNewKFs</a>);</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a4a365466d11db0f8e8fc14d76fc0cd83">mlNewKeyFrames</a>.size();</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    }</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a27db88f75fe6f2bd43b0bd0769d56462">CheckNewKeyFrames</a>();</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a84eea8f268cce9d919a4906ae634dd22">ProcessNewKeyFrame</a>();</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ac06b513357429d9eff89e29d2ae58d6c">CreateNewMapPoints</a>();</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#acbbb8f04b15e3250e0e24070825d19ae">MapPointCulling</a>();</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a5d5e0bc6fd15d9a6bf1ca8a258f104f1">SearchInNeighbors</a>();</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#aca73e5b4bace436b235dfa9c9a522b19">KeyFrameCulling</a>();</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ac72419089ac268253671b8da2ec12c21">ComputeF12</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* &amp;pKF1, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* &amp;pKF2);</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a4c5c0c57b580767a1dd642d77ad8179a">SkewSymmetricMatrix</a>(<span class="keyword">const</span> cv::Mat &amp;v);</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a809e1936f5670dba26908ae3cd165f13">  232</a></span>&#160; 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   <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a7ca97c0d4a6064148315589cc96a3302">mpMap</a>;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ac71702f1061f82c457276c014eebc784">  258</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html">LoopClosing</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ac71702f1061f82c457276c014eebc784">mpLoopCloser</a>;</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;</div><div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a6b4d311f49979f38d47ed96290255a2f">  261</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a6b4d311f49979f38d47ed96290255a2f">mpTracker</a>;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div><div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a4a365466d11db0f8e8fc14d76fc0cd83">  269</a></span>&#160; 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   <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ade846d251f505560c45d109c348b39e5">mbAcceptKeyFrames</a>;</div><div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a8668b51cf81fdfde9fd5ee61bd936a19">  294</a></span>&#160;    std::mutex <a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a8668b51cf81fdfde9fd5ee61bd936a19">mMutexAccept</a>;</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;};</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;} <span class="comment">//namespace ORB_SLAM</span></div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="preprocessor">#endif // LOCALMAPPING_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a4a365466d11db0f8e8fc14d76fc0cd83"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a4a365466d11db0f8e8fc14d76fc0cd83">ORB_SLAM2::LocalMapping::mlNewKeyFrames</a></div><div class="ttdeci">std::list&lt; KeyFrame * &gt; mlNewKeyFrames</div><div class="ttdoc">Buffer de solicitud de nuevos keyframes. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:269</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ab0900c4ceaf6a615f53bc113f682daa6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ab0900c4ceaf6a615f53bc113f682daa6">ORB_SLAM2::LocalMapping::AcceptKeyFrames</a></div><div class="ttdeci">bool AcceptKeyFrames()</div><div class="ttdoc">Informa si LocalMapping acepta nuevos keyframes. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:551</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a8668b51cf81fdfde9fd5ee61bd936a19"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a8668b51cf81fdfde9fd5ee61bd936a19">ORB_SLAM2::LocalMapping::mMutexAccept</a></div><div class="ttdeci">std::mutex mMutexAccept</div><div class="ttdef"><b>Definition:</b> LocalMapping.h:294</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_loop_closing_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html">ORB_SLAM2::LoopClosing</a></div><div class="ttdoc">Cierre de bucles. </div><div class="ttdef"><b>Definition:</b> LoopClosing.h:60</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a3494232f3f8f3b3dc25dd0da44ad4014"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a3494232f3f8f3b3dc25dd0da44ad4014">ORB_SLAM2::LocalMapping::mbFinished</a></div><div class="ttdeci">bool mbFinished</div><div class="ttdoc">Terminado. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:251</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ac22bd2b73269435e04c353190eae7c13"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ac22bd2b73269435e04c353190eae7c13">ORB_SLAM2::LocalMapping::RequestFinish</a></div><div class="ttdeci">void RequestFinish()</div><div class="ttdoc">Solicita terminar para cerrar el sistema. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:667</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a84eea8f268cce9d919a4906ae634dd22"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a84eea8f268cce9d919a4906ae634dd22">ORB_SLAM2::LocalMapping::ProcessNewKeyFrame</a></div><div class="ttdeci">void ProcessNewKeyFrame()</div><div class="ttdoc">Actualiza LocalMapping.mpCurrentKeyFrame, y quita el nuevo keyframe de la lista LocalMapping.mlNewKeyFrames. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:126</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a872cbbdab3f88ffc2d9d395ef2cf0e8d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a872cbbdab3f88ffc2d9d395ef2cf0e8d">ORB_SLAM2::LocalMapping::CheckFinish</a></div><div class="ttdeci">bool CheckFinish()</div><div class="ttdoc">Informa si terminó. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:673</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a3fe34beadb62eaa9446c96d27a5d12c9"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a3fe34beadb62eaa9446c96d27a5d12c9">ORB_SLAM2::LocalMapping::ResetIfRequested</a></div><div class="ttdeci">void ResetIfRequested()</div><div class="ttdoc">Procesa la solicitud de reinicio. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:656</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a809e1936f5670dba26908ae3cd165f13"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a809e1936f5670dba26908ae3cd165f13">ORB_SLAM2::LocalMapping::mbMonocular</a></div><div class="ttdeci">bool mbMonocular</div><div class="ttdoc">Señal de modo monocular. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:232</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ad68f6c709f31a5dfca64b24967cc77f2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ad68f6c709f31a5dfca64b24967cc77f2">ORB_SLAM2::LocalMapping::mbNotStop</a></div><div class="ttdeci">bool mbNotStop</div><div class="ttdoc">Señal de no parar. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:289</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ab3d831745749531e0bfa92b59e3da66e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ab3d831745749531e0bfa92b59e3da66e">ORB_SLAM2::LocalMapping::mbResetRequested</a></div><div class="ttdeci">bool mbResetRequested</div><div class="ttdoc">Reinicio solicitado. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:238</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a06ce22a736be265a6856582d31e888d6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a06ce22a736be265a6856582d31e888d6">ORB_SLAM2::LocalMapping::isFinished</a></div><div class="ttdeci">bool isFinished()</div><div class="ttdoc">Informa si LocalMapping ha terminado. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:687</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a6b4d311f49979f38d47ed96290255a2f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a6b4d311f49979f38d47ed96290255a2f">ORB_SLAM2::LocalMapping::mpTracker</a></div><div class="ttdeci">Tracking * mpTracker</div><div class="ttdoc">Tracker. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:261</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_acf229cc6cbbc4e50f0494946038a0ce8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#acf229cc6cbbc4e50f0494946038a0ce8">ORB_SLAM2::LocalMapping::mMutexReset</a></div><div class="ttdeci">std::mutex mMutexReset</div><div class="ttdef"><b>Definition:</b> LocalMapping.h:239</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a5b29c603541a13d670c53348e59081bf"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a5b29c603541a13d670c53348e59081bf">ORB_SLAM2::LocalMapping::SetAcceptKeyFrames</a></div><div class="ttdeci">void SetAcceptKeyFrames(bool flag)</div><div class="ttdoc">Establece la aceptación de nuevos keyframes. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:557</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a164b3d0a2a75daba006469ea8aca8a63"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a164b3d0a2a75daba006469ea8aca8a63">ORB_SLAM2::LocalMapping::SetTracker</a></div><div class="ttdeci">void SetTracker(Tracking *pTracker)</div><div class="ttdoc">Registra el tracker, la única instancia en el sistema. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:41</div></div>
<div class="ttc" id="_map_8h_html"><div class="ttname"><a href="_map_8h.html">Map.h</a></div></div>
<div class="ttc" id="_key_frame_8h_html"><div class="ttname"><a href="_key_frame_8h.html">KeyFrame.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ac72419089ac268253671b8da2ec12c21"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ac72419089ac268253671b8da2ec12c21">ORB_SLAM2::LocalMapping::ComputeF12</a></div><div class="ttdeci">cv::Mat ComputeF12(KeyFrame *&amp;pKF1, KeyFrame *&amp;pKF2)</div><div class="ttdoc">Computa la matriz fundamental F del keyframe 1 respecto del keyframe 2. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:473</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_afd75991c0499447411a3bd304cc9fa13"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#afd75991c0499447411a3bd304cc9fa13">ORB_SLAM2::LocalMapping::mlpRecentAddedMapPoints</a></div><div class="ttdeci">std::list&lt; MapPoint * &gt; mlpRecentAddedMapPoints</div><div class="ttdoc">Lista de nuevos puntos agregados al mapa, que serán revisados por LocalMapping::MapPointCulling. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:275</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_acbbb8f04b15e3250e0e24070825d19ae"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#acbbb8f04b15e3250e0e24070825d19ae">ORB_SLAM2::LocalMapping::MapPointCulling</a></div><div class="ttdeci">void MapPointCulling()</div><div class="ttdoc">Elimina por varios motivos puntos recién agregados. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:168</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html">ORB_SLAM2::Map</a></div><div class="ttdoc">Mapa del mundo, de puntos y keyframes. </div><div class="ttdef"><b>Definition:</b> Map.h:52</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">ORB_SLAM2::KeyFrame</a></div><div class="ttdoc">Cuadro clave, keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:79</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a0474accda8e5e59048c10b1a71269881"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a0474accda8e5e59048c10b1a71269881">ORB_SLAM2::LocalMapping::stopRequested</a></div><div class="ttdeci">bool stopRequested()</div><div class="ttdoc">Informa si se ha solicitado una parada. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:530</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ad8fcbbdacfaeca558c5aaff32f42a57b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ad8fcbbdacfaeca558c5aaff32f42a57b">ORB_SLAM2::LocalMapping::InterruptBA</a></div><div class="ttdeci">void InterruptBA()</div><div class="ttdoc">Solicita interrupción de BA. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:575</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a27db88f75fe6f2bd43b0bd0769d56462"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a27db88f75fe6f2bd43b0bd0769d56462">ORB_SLAM2::LocalMapping::CheckNewKeyFrames</a></div><div class="ttdeci">bool CheckNewKeyFrames()</div><div class="ttdoc">Consulta la lista de nuvos keyframes mlNewKeyFrames. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:120</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a8299d3b0c603784de01ac2242f4916be"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a8299d3b0c603784de01ac2242f4916be">ORB_SLAM2::LocalMapping::KeyframesInQueue</a></div><div class="ttdeci">int KeyframesInQueue()</div><div class="ttdoc">Informa la cantidad de keyframes en la cola para agregarse al mapa. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:156</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ae33aa5640d61d5434bd0ad00e27d8e76"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ae33aa5640d61d5434bd0ad00e27d8e76">ORB_SLAM2::LocalMapping::SetNotStop</a></div><div class="ttdeci">bool SetNotStop(bool flag)</div><div class="ttdoc">Establece la señal de no parar, que ignora solicitudes de parada. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:563</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_af2d70466a1a217fb7e55d874931ce688"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#af2d70466a1a217fb7e55d874931ce688">ORB_SLAM2::LocalMapping::InsertKeyFrame</a></div><div class="ttdeci">void InsertKeyFrame(KeyFrame *pKF)</div><div class="ttdoc">Método usado por el tracker para solicitar la inclusión de un nuevo keyframe. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:113</div></div>
<div class="ttc" id="_tracking_8h_html"><div class="ttname"><a href="_tracking_8h.html">Tracking.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html">ORB_SLAM2::Tracking</a></div><div class="ttdoc">Objeto único que se ejecuta en su propio Trhead, y se inicia con Run(). </div><div class="ttdef"><b>Definition:</b> Tracking.h:114</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ae067c33c891cb04e9cb8557ab4d7df33"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ae067c33c891cb04e9cb8557ab4d7df33">ORB_SLAM2::LocalMapping::mMutexFinish</a></div><div class="ttdeci">std::mutex mMutexFinish</div><div class="ttdef"><b>Definition:</b> LocalMapping.h:252</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ac71702f1061f82c457276c014eebc784"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ac71702f1061f82c457276c014eebc784">ORB_SLAM2::LocalMapping::mpLoopCloser</a></div><div class="ttdeci">LoopClosing * mpLoopCloser</div><div class="ttdoc">Cerrador de bucles. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:258</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_aa87b27706cc45e36cbb8c7a21c90ed23"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#aa87b27706cc45e36cbb8c7a21c90ed23">ORB_SLAM2::LocalMapping::LocalMapping</a></div><div class="ttdeci">LocalMapping(Map *pMap, const float bMonocular)</div><div class="ttdoc">Constructor de la única instancia de LocalMapping. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a4c5c0c57b580767a1dd642d77ad8179a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a4c5c0c57b580767a1dd642d77ad8179a">ORB_SLAM2::LocalMapping::SkewSymmetricMatrix</a></div><div class="ttdeci">cv::Mat SkewSymmetricMatrix(const cv::Mat &amp;v)</div><div class="ttdoc">Genera una matriz antisimétrica a partir de un vector. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:629</div></div>
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<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ada6ab808ccb95293baec4219ac59ca87"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ada6ab808ccb95293baec4219ac59ca87">ORB_SLAM2::LocalMapping::mbStopped</a></div><div class="ttdeci">bool mbStopped</div><div class="ttdoc">LocalMapping parado. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:283</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html">ORB_SLAM2::LocalMapping</a></div><div class="ttdoc">LocalMapping tiene una única instancia ejecutando el método Run en su propio thread. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:68</div></div>
<div class="ttc" id="_key_frame_database_8h_html"><div class="ttname"><a href="_key_frame_database_8h.html">KeyFrameDatabase.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ade846d251f505560c45d109c348b39e5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ade846d251f505560c45d109c348b39e5">ORB_SLAM2::LocalMapping::mbAcceptKeyFrames</a></div><div class="ttdeci">bool mbAcceptKeyFrames</div><div class="ttdoc">Señal para aceptar nuevos keyframes. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:293</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a5d5e0bc6fd15d9a6bf1ca8a258f104f1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a5d5e0bc6fd15d9a6bf1ca8a258f104f1">ORB_SLAM2::LocalMapping::SearchInNeighbors</a></div><div class="ttdeci">void SearchInNeighbors()</div><div class="ttdoc">Recorre los keyframes vecinos buscando puntos para fusionar. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:393</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a1e2754881977ca4d9dc7b3d0c06b4eb8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a1e2754881977ca4d9dc7b3d0c06b4eb8">ORB_SLAM2::LocalMapping::RequestReset</a></div><div class="ttdeci">void RequestReset()</div><div class="ttdoc">Solicitud de reinicialización. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:638</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a6acf915f6b65bd4e2341e85a320d4930"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a6acf915f6b65bd4e2341e85a320d4930">ORB_SLAM2::LocalMapping::Stop</a></div><div class="ttdeci">bool Stop()</div><div class="ttdoc">Invocado en el bucle principal de Run, para procesar pedidos de parada. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:511</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_aca73e5b4bace436b235dfa9c9a522b19"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#aca73e5b4bace436b235dfa9c9a522b19">ORB_SLAM2::LocalMapping::KeyFrameCulling</a></div><div class="ttdeci">void KeyFrameCulling()</div><div class="ttdoc">Elimina keyframes redundantes, que no agregan información. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:580</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a0931d72a1f25f3e012f53f3e693e2a47"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a0931d72a1f25f3e012f53f3e693e2a47">ORB_SLAM2::LocalMapping::RequestStop</a></div><div class="ttdeci">void RequestStop()</div><div class="ttdoc">Solicitud de pausa. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:503</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a1a6e5b76640d7584b749567d0328ccdc"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a1a6e5b76640d7584b749567d0328ccdc">ORB_SLAM2::LocalMapping::SetFinish</a></div><div class="ttdeci">void SetFinish()</div><div class="ttdoc">Marca las señales como terminado. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:679</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a964b156d8dfcedf91d61e47aa51e973a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a964b156d8dfcedf91d61e47aa51e973a">ORB_SLAM2::LocalMapping::isStopped</a></div><div class="ttdeci">bool isStopped()</div><div class="ttdoc">Informa el si LocalMapping está parado. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:524</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_af38a9dca4bb96b7ae1711336596a609a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#af38a9dca4bb96b7ae1711336596a609a">ORB_SLAM2::LocalMapping::mbStopRequested</a></div><div class="ttdeci">bool mbStopRequested</div><div class="ttdoc">Parada solicitada. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:286</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a2d9c44abf1b175880ea418cfc404be87"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a2d9c44abf1b175880ea418cfc404be87">ORB_SLAM2::LocalMapping::mbAbortBA</a></div><div class="ttdeci">bool mbAbortBA</div><div class="ttdoc">BA abortado. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:280</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a06f6b4e0e86ca4d311542dec5039d54a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a06f6b4e0e86ca4d311542dec5039d54a">ORB_SLAM2::LocalMapping::mMutexStop</a></div><div class="ttdeci">std::mutex mMutexStop</div><div class="ttdef"><b>Definition:</b> LocalMapping.h:290</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_aec0950308ba2d828d9dc16d5be34e654"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#aec0950308ba2d828d9dc16d5be34e654">ORB_SLAM2::LocalMapping::Release</a></div><div class="ttdeci">void Release()</div><div class="ttdoc">Invocado desde otros hilos, limpia el buffer de keyframes nuevos y reanuda el mapeo. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:536</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a0f9fa8a0236f55629b0f485db05deb2c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a0f9fa8a0236f55629b0f485db05deb2c">ORB_SLAM2::LocalMapping::Run</a></div><div class="ttdeci">void Run()</div><div class="ttdoc">Bucle principal del thread de mapeo local. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:46</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a970bb666e27d4e801453e9fc26e779a1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a970bb666e27d4e801453e9fc26e779a1">ORB_SLAM2::LocalMapping::mMutexNewKFs</a></div><div class="ttdeci">std::mutex mMutexNewKFs</div><div class="ttdef"><b>Definition:</b> LocalMapping.h:277</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a7ca97c0d4a6064148315589cc96a3302"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a7ca97c0d4a6064148315589cc96a3302">ORB_SLAM2::LocalMapping::mpMap</a></div><div class="ttdeci">Map * mpMap</div><div class="ttdoc">Mapa del mundo. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:255</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_af64985dda85b4f0775ef2ef7fc9b5942"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#af64985dda85b4f0775ef2ef7fc9b5942">ORB_SLAM2::LocalMapping::SetLoopCloser</a></div><div class="ttdeci">void SetLoopCloser(LoopClosing *pLoopCloser)</div><div class="ttdoc">Registra el LoopCloser, la única instancia en el sistema. </div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:36</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a1e4de53f96e97c6b94b794d0a5bc67e3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a1e4de53f96e97c6b94b794d0a5bc67e3">ORB_SLAM2::LocalMapping::mpCurrentKeyFrame</a></div><div class="ttdeci">KeyFrame * mpCurrentKeyFrame</div><div class="ttdoc">Keyframe actual, el último keyframe nuevo que se ha procesado. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:272</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_a761d63d4351faa22012420d635829df1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#a761d63d4351faa22012420d635829df1">ORB_SLAM2::LocalMapping::mbFinishRequested</a></div><div class="ttdeci">bool mbFinishRequested</div><div class="ttdoc">Terminación solicitada. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:248</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html_ac06b513357429d9eff89e29d2ae58d6c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html#ac06b513357429d9eff89e29d2ae58d6c">ORB_SLAM2::LocalMapping::CreateNewMapPoints</a></div><div class="ttdeci">void CreateNewMapPoints()</div><div class="ttdoc">El ciclo de mapeo local invoca periódicamente este método, que busca macheos candidatos para su trian...</div><div class="ttdef"><b>Definition:</b> LocalMapping.cc:205</div></div>
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